EP4057907A4 - SURGICAL PROBE FOR TISSUE SECTION WITH ROBOT ARMS - Google Patents

SURGICAL PROBE FOR TISSUE SECTION WITH ROBOT ARMS Download PDF

Info

Publication number
EP4057907A4
EP4057907A4 EP20886290.4A EP20886290A EP4057907A4 EP 4057907 A4 EP4057907 A4 EP 4057907A4 EP 20886290 A EP20886290 A EP 20886290A EP 4057907 A4 EP4057907 A4 EP 4057907A4
Authority
EP
European Patent Office
Prior art keywords
robotic arms
tissue resection
surgical probes
probes
surgical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20886290.4A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP4057907A1 (en
Inventor
Kevin Staid
Surag Mantri
Nikolai Aljuri
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Procept Biorobotics Corp
Original Assignee
Procept Biorobotics Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Procept Biorobotics Corp filed Critical Procept Biorobotics Corp
Publication of EP4057907A1 publication Critical patent/EP4057907A1/en
Publication of EP4057907A4 publication Critical patent/EP4057907A4/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A61B8/0833—Clinical applications involving detecting or locating foreign bodies or organic structures
    • A61B8/0841—Clinical applications involving detecting or locating foreign bodies or organic structures for locating instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A61B8/0833—Clinical applications involving detecting or locating foreign bodies or organic structures
    • A61B8/085—Clinical applications involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/32—Surgical cutting instruments
    • A61B17/320016—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/32—Surgical cutting instruments
    • A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/32—Surgical cutting instruments
    • A61B17/3203—Fluid jet cutting instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/32—Surgical cutting instruments
    • A61B2017/320064—Surgical cutting instruments with tissue or sample retaining means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00601—Cutting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00964—Features of probes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Vascular Medicine (AREA)
  • Otolaryngology (AREA)
  • Surgical Instruments (AREA)
EP20886290.4A 2019-11-11 2020-11-04 SURGICAL PROBE FOR TISSUE SECTION WITH ROBOT ARMS Pending EP4057907A4 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962933721P 2019-11-11 2019-11-11
US16/939,972 US11071601B2 (en) 2019-11-11 2020-07-27 Surgical probes for tissue resection with robotic arms
PCT/US2020/058884 WO2021096741A1 (en) 2019-11-11 2020-11-04 Surgical probes for tissue resection with robotic arms

Publications (2)

Publication Number Publication Date
EP4057907A1 EP4057907A1 (en) 2022-09-21
EP4057907A4 true EP4057907A4 (en) 2024-03-13

Family

ID=75847400

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20886290.4A Pending EP4057907A4 (en) 2019-11-11 2020-11-04 SURGICAL PROBE FOR TISSUE SECTION WITH ROBOT ARMS

Country Status (5)

Country Link
US (3) US11071601B2 (https=)
EP (1) EP4057907A4 (https=)
JP (2) JP2022554422A (https=)
CN (2) CN114650775B (https=)
WO (1) WO2021096741A1 (https=)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7490666B2 (ja) 2019-03-01 2024-05-27 プロセプト バイオロボティクス コーポレイション ポンプカートリッジおよびコンソール
WO2020181290A1 (en) 2019-03-07 2020-09-10 Procept Biorobotics Corporation Robotic arms and methods for tissue resection and imaging
WO2020181278A1 (en) 2019-03-07 2020-09-10 Procept Biorobotics Corporation Material removal from surgical site
US11786259B1 (en) * 2019-05-28 2023-10-17 Mirus Llc Systems and methods for ultrasonically-assisted placement of orthopedic implants
US11071601B2 (en) * 2019-11-11 2021-07-27 Procept Biorobotics Corporation Surgical probes for tissue resection with robotic arms
US11705028B2 (en) * 2020-06-19 2023-07-18 GeoPost, Inc. Mobile device fixture for automated calibration of electronic display screens and method of use
US11877818B2 (en) 2020-06-26 2024-01-23 Procept Biorobotics Corporation Integration of robotic arms with surgical probes
US11096753B1 (en) 2020-06-26 2021-08-24 Procept Biorobotics Corporation Systems and methods for defining and modifying range of motion of probe used in patient treatment
WO2022024124A2 (en) * 2020-07-29 2022-02-03 Tamar Robotics Ltd Adaptive target removal from soft tissue
CN115605148A (zh) 2021-04-20 2023-01-13 普罗赛普特生物机器人公司（Us） 具有独立能量源的外科手术探针
CN113344008B (zh) * 2021-06-02 2022-08-09 广西大学 基于深度学习的茎秆组织解剖学特征参数高通量提取方法
US20230073575A1 (en) * 2021-09-08 2023-03-09 Cilag Gmbh International Laparoscopic view direct motion control of mirrored endoluminal device
US12376883B2 (en) 2021-09-08 2025-08-05 Cilag Gmbh International Uterine manipulator control with presentation of critical structures
US12329582B2 (en) 2022-02-17 2025-06-17 Procept Biorobotics Corporation Apparatus to detect tissue stretching during insertion of probes
US12329574B2 (en) 2022-10-31 2025-06-17 Procept Biorobotics Corporation Fiducial systems for probe tracking and identification
CN115607282B (zh) * 2022-12-02 2023-04-07 北京智愈医疗科技有限公司 一种水刀轨迹预设方法和装置
DE102024112986A1 (de) * 2024-05-08 2025-11-13 Helmholtz-Zentrum Dresden - Rossendorf E. V. Verfahren und Vorrichtung zur Bildverarbeitung und Computerlesbares Speichermedium

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07136173A (ja) * 1993-11-15 1995-05-30 Olympus Optical Co Ltd 手術用マニピュレータ
US20090227998A1 (en) * 2008-03-06 2009-09-10 Aquabeam Llc Tissue ablation and cautery with optical energy carried in fluid stream
US20110282356A1 (en) * 2007-06-13 2011-11-17 Intuitive Surgical Operations, Inc. Surgical system instrument manipulator
US20160143778A1 (en) * 2009-03-06 2016-05-26 Procept Biorobotics Corporation Aquablation aquabeam eye surgery methods and apparatus
WO2016187290A1 (en) * 2015-05-19 2016-11-24 Mako Surgical Corp. System and method for manipulating an anatomy
US20170105785A1 (en) * 2012-06-28 2017-04-20 Ethicon Endo-Surgery, Llc Surgical end effector jaw and electrode configurations
US20170245878A1 (en) * 2012-02-29 2017-08-31 Procept Biorobotics Corporation Automated image-guided tissue resection and treatment
CN109662779A (zh) * 2019-01-25 2019-04-23 李汉忠 一种经尿道电切镜手术机器人系统
US20190151148A1 (en) * 2013-01-18 2019-05-23 Auris Health, Inc. Method, apparatus and system for a water jet
US20190223967A1 (en) * 2016-10-04 2019-07-25 Intuitive Surgical Operations, Inc. Computer-assisted teleoperated surgery systems and methods

Family Cites Families (134)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4389071A (en) 1980-12-12 1983-06-21 Hydronautics, Inc. Enhancing liquid jet erosion
FR2523232B1 (fr) 1982-03-09 1985-09-20 Thomson Csf Colonne telescopique a tubes cylindriques
US4932956A (en) 1988-05-10 1990-06-12 American Medical Systems, Inc. Prostate balloon dilator
US7549424B2 (en) * 1991-10-18 2009-06-23 Pro Surg, Inc. Method and apparatus for tissue treatment with laser and electromagnetic radiation
US5876325A (en) 1993-11-02 1999-03-02 Olympus Optical Co., Ltd. Surgical manipulation system
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
JP3409655B2 (ja) 1997-07-24 2003-05-26 富士写真光機株式会社 経内視鏡的に挿入される超音波診断装置
DE19917089C1 (de) 1999-04-15 2000-08-24 Siemens Ag Medizinisches Behandlungs- und Versorgungszentrum
US6375635B1 (en) 1999-05-18 2002-04-23 Hydrocision, Inc. Fluid jet surgical instruments
US6511493B1 (en) 2000-01-10 2003-01-28 Hydrocision, Inc. Liquid jet-powered surgical instruments
DE20019105U1 (de) 2000-11-12 2001-05-23 Leica Microsystems Ag, Heerbrugg Stativ
NL1019547C1 (nl) 2001-10-31 2003-05-02 Peter Tjong Joe Wai Instrument en werkwijze voor het inbrengen van een buisvormig voorwerp in de farynx van een persoon.
US20060205996A1 (en) 2001-11-20 2006-09-14 Solorant Medical, Inc. Incontinence treatment with urethral guide
EP1472579B1 (en) 2002-02-06 2013-05-01 The Johns Hopkins University Remote center of motion robotic system
US7747311B2 (en) 2002-03-06 2010-06-29 Mako Surgical Corp. System and method for interactive haptic positioning of a medical device
US8010180B2 (en) 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
AU2002345516A1 (en) 2002-07-05 2004-01-23 Singapore Institute Of Manufacturing Technology Resonating nozzle system
EP1486900A1 (en) 2003-06-12 2004-12-15 Materialise, Naamloze Vennootschap Method and system for manufacturing a surgical guide
US9261172B2 (en) 2004-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Multi-ply strap drive trains for surgical robotic arms
US8216234B2 (en) * 2004-11-10 2012-07-10 Ethicon Endo-Surgery, Inc. Tissue resection device
US20060118495A1 (en) 2004-12-08 2006-06-08 Ilia Kondratalv Nozzle for generating high-energy cavitation
US20080009747A1 (en) * 2005-02-02 2008-01-10 Voyage Medical, Inc. Transmural subsurface interrogation and ablation
GB0504988D0 (en) * 2005-03-10 2005-04-20 Emcision Ltd Device and method for the treatment of diseased tissue such as tumors
US8398541B2 (en) 2006-06-06 2013-03-19 Intuitive Surgical Operations, Inc. Interactive user interfaces for robotic minimally invasive surgical systems
US9114252B2 (en) 2005-12-02 2015-08-25 University Of Rochester Image-guided therapy delivery and diagnostic needle system
CN101394877B (zh) 2006-01-24 2011-07-27 海德鲁西昂公司 远端形状选择性可控的液体喷射外科器械
EP2019628A4 (en) 2006-04-25 2014-03-05 Hydrocision Inc ELECTROFORMED SURGICAL INSTRUMENT WITH LIQUID SPREAD
US20080027420A1 (en) 2006-07-25 2008-01-31 Ams Research Corporation Cryosurgical Imaging and Monitoring Systems
US8660635B2 (en) 2006-09-29 2014-02-25 Medtronic, Inc. Method and apparatus for optimizing a computer assisted surgical procedure
US7967810B2 (en) * 2006-10-20 2011-06-28 Mary Beth Kelley Sub-atmospheric wound-care system
DE202006018986U1 (de) * 2006-12-16 2008-04-17 Human Med Ag Applikator für eine Wasserstrahleinrichtung, insbesondere zur Behandlung von Wunden und Geschwüren
US9232959B2 (en) 2007-01-02 2016-01-12 Aquabeam, Llc Multi fluid tissue resection methods and devices
EP3510959B1 (en) 2007-01-02 2021-03-03 AquaBeam LLC Minimally invasive devices for the treatment of prostate diseases
US8057411B2 (en) * 2007-04-25 2011-11-15 General Patent, Llc Wound care vacuum bandaging in combination with acoustic shock wave applications
ES2307426B2 (es) * 2007-04-30 2009-10-01 Universidad Politecnica De Valencia Dispositivo aplicador para ablacion por radiofrecuencia de tejidos biologicos.
US7806957B1 (en) 2007-05-11 2010-10-05 Dennis Anthony Burke Balanced fertilizer production and improved anaerobic digestion efficiency
EP2002796B1 (de) 2007-06-15 2012-08-08 BrainLAB AG Computergestütztes Planungsverfahren für die Korrektur von Gelenkknochen-Formveränderungen
WO2009010960A2 (en) * 2007-07-16 2009-01-22 Dune Medical Devices Ltd. Medical device and method for use in tissue characterization and treatment
US8229188B2 (en) 2007-10-12 2012-07-24 General Electric Company Systems, methods and apparatus automatic segmentation of liver in multiphase contrast-enhanced medical images
JP5460610B2 (ja) * 2007-11-30 2014-04-02 セント・ジュード・メディカル・エイトリアル・フィブリレーション・ディヴィジョン・インコーポレーテッド 磁場制御および誘導のための磁気先端部を有する灌流アブレーションカテーテル
US9610131B2 (en) 2008-11-05 2017-04-04 The Johns Hopkins University Rotating needle driver and apparatuses and methods related thereto
US9144461B2 (en) 2008-12-03 2015-09-29 Koninklijke Philips N.V. Feedback system for integrating interventional planning and navigation
JP2010142575A (ja) 2008-12-22 2010-07-01 Gifu Univ 内視鏡保持装置
US9277969B2 (en) 2009-04-01 2016-03-08 Covidien Lp Microwave ablation system with user-controlled ablation size and method of use
US8795162B2 (en) 2009-11-10 2014-08-05 Invuity, Inc. Illuminated suction apparatus
WO2012019162A1 (en) 2010-08-06 2012-02-09 Accuray, Inc. Systems and methods for real-time tumor tracking during radiation treatment using ultrasound imaging
US20120191107A1 (en) 2010-09-17 2012-07-26 Tanner Neal A Systems and methods for positioning an elongate member inside a body
US20120095498A1 (en) * 2010-10-13 2012-04-19 Ethicon Endo-Surgery, Inc. Methods and devices for mechanical space creation at a surgical site
US9254090B2 (en) * 2010-10-22 2016-02-09 Intuitive Surgical Operations, Inc. Tissue contrast imaging systems
US20140039314A1 (en) 2010-11-11 2014-02-06 The Johns Hopkins University Remote Center of Motion Robot for Medical Image Scanning and Image-Guided Targeting
EP2640292B1 (en) 2010-11-18 2016-08-10 Koninklijke Philips N.V. System for probabilistic ablation planning
US9204939B2 (en) 2011-08-21 2015-12-08 M.S.T. Medical Surgery Technologies Ltd. Device and method for assisting laparoscopic surgery—rule based approach
US9770828B2 (en) 2011-09-28 2017-09-26 The Johns Hopkins University Teleoperative-cooperative robotic system
WO2013055203A1 (en) 2011-10-14 2013-04-18 Academisch Medisch Centrum Bij De Universiteit Van Amsterdam Method to provide at least one patient specific device to be used for bone correction, a treatment kit, a method of operating a data-processing system, a computer program, and a correction and fixation device and a cutting assisting device for bone correction.
US9770289B2 (en) 2012-02-10 2017-09-26 Myromed, Llc Vacuum powered rotary devices and methods
CN104622581B (zh) 2012-07-03 2018-02-02 库卡实验仪器有限公司 手术器械组、特别是机器人引导的手术器械的传动器组和手术器械
US9877788B2 (en) 2012-10-08 2018-01-30 The Johns Hopkins University MRI-safe robot for transrectal prostate biopsy
CA2889478C (en) 2012-11-05 2020-11-24 Relievant Medsystems, Inc. Systems and methods for creating curved paths through bone and modulating nerves within the bone
US20140142438A1 (en) 2012-11-19 2014-05-22 Biosense Webster (Israel), Ltd. Using location and force measurements to estimate tissue thickness
EP2931162A4 (en) 2012-12-11 2016-07-13 Olympus Corp ENDOSCOPY DEVICE AND METHOD FOR CONTROLLING AN ENDOSCOPY DEVICE
GB201300490D0 (en) * 2013-01-11 2013-02-27 Univ Leuven Kath An apparatus and method for generating motion around a remote centre of motion
US9867635B2 (en) 2013-03-08 2018-01-16 Auris Surgical Robotics, Inc. Method, apparatus and system for a water jet
KR102084534B1 (ko) 2013-03-13 2020-03-04 씽크 써지컬, 인크. 컴퓨터 지원 로봇 수술을 위한 방법, 장치 및 시스템
US10098656B2 (en) * 2013-04-03 2018-10-16 Procept Biorobotics Corporation Water enucleation of the prostate
JP6010225B2 (ja) 2013-06-13 2016-10-19 テルモ株式会社 医療用マニピュレータ
BR112016005036A2 (en) 2013-09-06 2020-04-07 Procept Biorobotics Corporation automated image guided tissue resection device
US10238457B2 (en) 2013-09-13 2019-03-26 Vanderbilt University System and method for endoscopic deployment of robotic concentric tube manipulators for performing surgery
EP3689284B1 (en) * 2013-10-24 2025-02-26 Auris Health, Inc. System for robotic-assisted endolumenal surgery
US20170000497A1 (en) 2013-11-29 2017-01-05 The Johns Hopkins University Cranial reference mount
EP4184483B1 (en) 2013-12-20 2024-09-11 Intuitive Surgical Operations, Inc. Simulator system for medical procedure training
JP6091410B2 (ja) 2013-12-26 2017-03-08 オリンパス株式会社 内視鏡装置の作動方法及び内視鏡システム
US10278775B2 (en) * 2013-12-31 2019-05-07 Biosense Webster (Israel) Ltd. Catheter utilizing optical spectroscopy for measuring tissue contact area
DE102014223304A1 (de) 2014-03-11 2015-09-17 Geuder Ag chirurgisches Instrument
JP6512216B2 (ja) 2014-03-14 2019-05-15 ソニー株式会社 ロボットアーム装置、ロボットアーム制御方法及びプログラム
KR102374441B1 (ko) 2014-03-17 2022-03-15 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 원격조작 수술 시스템 및 역기구학을 이용한 조인트 한계에서의 제어 방법
GB201406821D0 (en) * 2014-04-16 2014-05-28 Univ Leuven Kath Method and device for estimating an optimal pivot point
US10555785B2 (en) 2014-04-22 2020-02-11 Bio-Medical Engineering (HK) Limited Surgical arm system with internally driven gear assemblies
GB201408582D0 (en) 2014-05-14 2014-06-25 Ucl Business Plc A system and method for computer-assisted planning of a trajectory for a surgical insertion into a skull
US10368850B2 (en) 2014-06-18 2019-08-06 Siemens Medical Solutions Usa, Inc. System and method for real-time ultrasound guided prostate needle biopsies using a compliant robotic arm
ES2886204T3 (es) 2014-06-24 2021-12-16 Procept Biorobotics Corp Aparato de muestreo de tejidos y tratamiento del cáncer
BR112016031037B1 (pt) 2014-06-30 2023-02-07 Procept Biorobotics Corporation Aparelho para ablação de tecido vascular
CN107148245B (zh) * 2014-09-05 2021-03-09 普罗赛普特生物机器人公司 干细胞的基因分析和生成的方法及装置
BR112017004431B1 (pt) 2014-09-05 2022-11-01 Procept Biorobotics Corporation Aparelho para tratar um paciente
US11273290B2 (en) 2014-09-10 2022-03-15 Intuitive Surgical Operations, Inc. Flexible instrument with nested conduits
EP3200718B1 (en) 2014-09-30 2026-02-18 Auris Health, Inc. Configurable robotic surgical system with virtual rail and flexible endoscope
GB2531994B (en) 2014-10-15 2020-06-24 Cmr Surgical Ltd Surgical articulation
AU2015353523B2 (en) 2014-11-24 2019-10-24 The Johns Hopkins University Computer-assisted cranioplasty
US11141216B2 (en) 2015-01-30 2021-10-12 Immunsys, Inc. Radio-frequency electrical membrane breakdown for the treatment of high risk and recurrent prostate cancer, unresectable pancreatic cancer, tumors of the breast, melanoma or other skin malignancies, sarcoma, soft tissue tumors, ductal carcinoma, neoplasia, and intra and extra luminal abnormal tissue
US20180028261A1 (en) 2015-02-17 2018-02-01 Koninklijke Philips N.V. Device and method for assisting in tissue ablation
US10653476B2 (en) 2015-03-12 2020-05-19 Covidien Lp Mapping vessels for resecting body tissue
US10327830B2 (en) 2015-04-01 2019-06-25 Monteris Medical Corporation Cryotherapy, thermal therapy, temperature modulation therapy, and probe apparatus therefor
JP6719487B2 (ja) 2015-06-23 2020-07-08 コヴィディエン リミテッド パートナーシップ ロボット外科手術アセンブリ
US20170020253A1 (en) 2015-07-22 2017-01-26 Zbigniew Drozdowicz Modular luggage and sleeping wedge apparatus
CN108024869B (zh) 2015-09-17 2021-05-07 卡尔蔡司医疗技术股份公司 用于激光辅助眼睛治疗的系统和方法
US10441371B2 (en) 2015-10-02 2019-10-15 Vanderbilt University Concentric tube robot
US10058393B2 (en) * 2015-10-21 2018-08-28 P Tech, Llc Systems and methods for navigation and visualization
DE102015118318B4 (de) 2015-10-27 2018-05-03 Karl Leibinger Medizintechnik Gmbh & Co. Kg Automatisierte Generierung von Knochenbehandlungsmitteln
US10307214B2 (en) 2015-11-23 2019-06-04 Vanderbilt University Modular sterilizable robotic system for endonasal surgery
US9949798B2 (en) 2016-01-06 2018-04-24 Ethicon Endo-Surgery, Llc Methods, systems, and devices for controlling movement of a robotic surgical system
US10912620B2 (en) 2016-01-06 2021-02-09 Vanderbilt University Snare tool manipulator system
ITUB20169976A1 (it) 2016-01-14 2017-07-14 Comau Spa Sistema per il controllo assistito da robot di una sonda transrettale, ad esempio per impiego nell'esecuzione di una ecografia prostatica
RU2018136593A (ru) 2016-03-18 2020-04-20 Просепт Байороботикс Корпорейшн Минимально инвазивные способы и системы для гемостаза в кровоточащем закрытом объеме ткани
US11278369B2 (en) 2016-04-28 2022-03-22 Sony Corporation Control device, control method, and surgical system
WO2017192603A1 (en) 2016-05-02 2017-11-09 The Johns Hopkins University System for generating synthetic aperture ultrasound images during needle placement
US20190142396A1 (en) 2016-05-04 2019-05-16 The Johns Hopkins University Remote center of motion robot
WO2018005636A1 (en) 2016-07-01 2018-01-04 Intuitive Surgical Operations, Inc. Computer-assisted tele-operated surgery systems and methods
CA3030831A1 (en) 2016-07-15 2018-01-18 Mako Surgical Corp. Systems for a robotic-assisted revision procedure
GB2552383B (en) 2016-07-22 2022-08-24 Cmr Surgical Ltd Gear packaging for robotic joints
CN117481800A (zh) * 2016-11-14 2024-02-02 杰尼索尼克斯公司 用于实时规划和监控组织中消融针部署的方法和系统
WO2018175737A1 (en) 2017-03-22 2018-09-27 Intuitive Surgical Operations, Inc. Systems and methods for intelligently seeding registration
JP2018198750A (ja) 2017-05-26 2018-12-20 ソニー株式会社 医療用システム、医療用支持アームの制御装置、および医療用支持アームの制御方法
AU2018282197A1 (en) * 2017-06-09 2019-12-19 Mako Surgical Corp. Robotic system and method for producing reactive forces to implement virtual boundaries
EP3664648B1 (en) 2017-08-10 2023-04-26 PROCEPT BioRobotics Corporation Surgical drape
EP3681406B1 (en) 2017-09-13 2025-04-23 Orchard Ultrasound Innovation LLC Medical device with cmut array and solid state cooling
EP3709927A4 (en) 2017-11-16 2020-12-23 Intuitive Surgical Operations Inc. MASTER / SLAVE REGISTRATION AND CONTROL FOR REMOTE OPERATION
US11148297B2 (en) 2017-12-31 2021-10-19 Asensus Surgical Us, Inc. Force based gesture control of a robotic surgical manipulator
EP3511126A1 (de) 2018-01-15 2019-07-17 Siemens Aktiengesellschaft Verfahren zur rechnergestützten planung eines durch einen roboter ausführbaren arbeitsablaufs
CN119867925A (zh) 2018-06-21 2025-04-25 普罗赛普特生物机器人公司 用于机器人手术的人工智能
AU2020201097B2 (en) * 2019-02-14 2024-02-29 Stryker Australia Pty Ltd Systems for assisting surgery
JP7490666B2 (ja) 2019-03-01 2024-05-27 プロセプト バイオロボティクス コーポレイション ポンプカートリッジおよびコンソール
WO2020181290A1 (en) 2019-03-07 2020-09-10 Procept Biorobotics Corporation Robotic arms and methods for tissue resection and imaging
WO2020181278A1 (en) 2019-03-07 2020-09-10 Procept Biorobotics Corporation Material removal from surgical site
CN113692249A (zh) 2019-03-07 2021-11-23 普罗赛普特生物机器人公司 用于持续的患者监控和智能治疗的植入物
EP3934508B1 (en) 2019-03-07 2025-10-15 PROCEPT BioRobotics Corporation Stiff sheath for imaging probe
US11369443B2 (en) 2019-06-27 2022-06-28 Cilag Gmbh International Method of using a surgical modular robotic assembly
US11590319B2 (en) 2019-07-23 2023-02-28 Siemens Medical Solutions, Inc. Mechanically-decoupled actuation for robotic catheter system
US11553973B2 (en) * 2019-07-29 2023-01-17 Verb Surgical Inc. Robotic arm having an extendable prismatic link
JP7525931B2 (ja) 2019-09-10 2024-07-31 メディバイス エーエス 医療デバイス
US11071601B2 (en) * 2019-11-11 2021-07-27 Procept Biorobotics Corporation Surgical probes for tissue resection with robotic arms
DE102019220537A1 (de) 2019-12-23 2021-06-24 Albert-Ludwigs-Universität Freiburg Vorrichtungen zur Enukleation intrakorporaler Gewebebereiche
CN111449694B (zh) 2020-05-21 2025-07-11 上海市胸科医院 引导鞘管
US11877818B2 (en) 2020-06-26 2024-01-23 Procept Biorobotics Corporation Integration of robotic arms with surgical probes
US11096753B1 (en) 2020-06-26 2021-08-24 Procept Biorobotics Corporation Systems and methods for defining and modifying range of motion of probe used in patient treatment
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07136173A (ja) * 1993-11-15 1995-05-30 Olympus Optical Co Ltd 手術用マニピュレータ
US20110282356A1 (en) * 2007-06-13 2011-11-17 Intuitive Surgical Operations, Inc. Surgical system instrument manipulator
US20090227998A1 (en) * 2008-03-06 2009-09-10 Aquabeam Llc Tissue ablation and cautery with optical energy carried in fluid stream
US20160143778A1 (en) * 2009-03-06 2016-05-26 Procept Biorobotics Corporation Aquablation aquabeam eye surgery methods and apparatus
US20170245878A1 (en) * 2012-02-29 2017-08-31 Procept Biorobotics Corporation Automated image-guided tissue resection and treatment
US20170105785A1 (en) * 2012-06-28 2017-04-20 Ethicon Endo-Surgery, Llc Surgical end effector jaw and electrode configurations
US20190151148A1 (en) * 2013-01-18 2019-05-23 Auris Health, Inc. Method, apparatus and system for a water jet
WO2016187290A1 (en) * 2015-05-19 2016-11-24 Mako Surgical Corp. System and method for manipulating an anatomy
US20190223967A1 (en) * 2016-10-04 2019-07-25 Intuitive Surgical Operations, Inc. Computer-assisted teleoperated surgery systems and methods
CN109662779A (zh) * 2019-01-25 2019-04-23 李汉忠 一种经尿道电切镜手术机器人系统

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2021096741A1 *

Also Published As

Publication number Publication date
CN114650775A (zh) 2022-06-21
US20210378766A1 (en) 2021-12-09
US20250387181A1 (en) 2025-12-25
JP2025184961A (ja) 2025-12-18
US20210137612A1 (en) 2021-05-13
WO2021096741A1 (en) 2021-05-20
CN114650775B (zh) 2024-03-22
JP2022554422A (ja) 2022-12-28
EP4057907A1 (en) 2022-09-21
US12419701B2 (en) 2025-09-23
CN118236168A (zh) 2024-06-25
US11071601B2 (en) 2021-07-27

Similar Documents

Publication Publication Date Title
EP4057907A4 (en) SURGICAL PROBE FOR TISSUE SECTION WITH ROBOT ARMS
PL3689265T3 (pl) Stapler chirurgiczny z wahliwą dalszą końcówką
EP3668422A4 (en) ENDOSCOPIC REUSABLE SURGICAL STAPLE APPLICATOR
EP3664724A4 (en) ENDOSCOPIC REUSABLE SURGICAL STAPLE APPLICATOR
EP3823568A4 (en) GLAUCOMA SURGICAL TREATMENT
EP3781064A4 (en) SURGICAL PORT MANIPULATOR
PL3578125T3 (pl) Laparoskopowy instrument w postaci kleszczy
EP3123957A3 (en) Surgical instrument comprising systems for permitting the optional transection of tissue
EP3685781B8 (de) Vorrichtung zur gewebekoagulation
EP3782573A4 (en) LAPAROSCOPE HOLDING ROBOT SYSTEM FOR LAPAROSCOPIC SURGERY
EP4125694A4 (en) OPERATING FIELD
EP3804671B8 (en) Ophthalmic forceps
EP3703582A4 (en) SURGICAL GRIPPING INSTRUMENT
EP4424255A4 (en) SURGICAL INSTRUMENT
IL276884A (en) Tip for tissue treatment using multiple beams
EP3903707A4 (en) DETACHABLE SURGICAL INSTRUMENT
EP3952750A4 (en) SMALL DUCT TISSUE BIOPSY
EP4101400A4 (en) SURGICAL INSTRUMENT
AU2022299487A1 (en) Surgical instrument for robotic surgery
PL3771445T3 (pl) Narzędzie chirurgiczne
EP3988036A4 (en) CUTTING DEVICE, FORCEPS, SURGICAL SYSTEM, MEDICAL SYSTEM, ROBOT, MEDICAL ROBOT FOR SURGICAL AND SURGICAL SYSTEM
EP4070741A4 (en) INSTRUMENT FOR BONE SURGERY
EP3666197A4 (en) ENDOSCOPE OPERATING SLEEVE FOR UROLOGICAL SURGERY
EP3903700A4 (en) ULTRASOUND SURGICAL INSTRUMENT
EP3908230A4 (en) DEVICES AND METHODS FOR CATHETER-BASED CARDIAC PROCEDURES

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20220610

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
RIC1 Information provided on ipc code assigned before grant

Ipc: A61B 8/12 20060101ALI20231030BHEP

Ipc: A61B 8/00 20060101AFI20231030BHEP

A4 Supplementary search report drawn up and despatched

Effective date: 20240209

RIC1 Information provided on ipc code assigned before grant

Ipc: A61B 8/12 20060101ALI20240205BHEP

Ipc: A61B 8/00 20060101AFI20240205BHEP

RAP3 Party data changed (applicant data changed or rights of an application transferred)

Owner name: PROCEPT BIOROBOTICS CORPORATION